UnitIndustrialRobot工業(yè)機(jī)器人.ppt

1、第13次課,Industrial Robot 工業(yè)機(jī)器人,Unit 5 Industrial Robot,1.Introduction 2. Programming a Robot,單詞,工業(yè)機(jī)器人,可再編程的,液壓的,氣動(dòng)的,機(jī)電的,工件封裝,圓柱狀的,梯形邏輯圖,industry robot,reprogrammable,hydraulic,pneumatic,electromechanical,cylindrical,ladder logic,開環(huán),open-loop,閉環(huán),closed-loop,Work envelop,單詞,fiction,companionship,anatomy

2、,similarity,evolve,gripper,auxiliary,虛構(gòu)，想象,陪伴,（生物體）結(jié)構(gòu),相似之處,演化，演變,輔助的，補(bǔ)充的,夾持器,pendant,joy-stick,操縱桿,懸掛式操縱板，操作面板,key pad,鍵盤,gantry,臺(tái)架,potential,潛在的,1.Introduction,Industrial robot are relatively new electromechanical devices that are beginning to change the appearance of modern industry. 工業(yè)機(jī)器人是相對(duì)來說較新的

3、機(jī)電設(shè)備，它已經(jīng)開始改變現(xiàn)代工業(yè)的面貌。 Industrial robots are not like the science fiction devices that possess human-like abilities and provide companionship with space travelers. 工業(yè)機(jī)器人不像科幻小說中的那個(gè)模樣具有人一樣的能力并且能與其它移動(dòng)物建立友誼。,1.Introduction,Research to enable robots to “see”, “hear”, “touch”, and “l(fā)isten” has been underway

4、 for two decades and is beginning to bear Fruit. However, the current technology of industrial robots is such that most robots contain only an Arm rather than all the anatomy a human possesses. 機(jī)器人能夠看見聽到觸覺聽的研究已經(jīng)進(jìn)行了20多年，現(xiàn)在開始開花結(jié)果了。然而，通常所說的工業(yè)機(jī)器人技術(shù)是是大多數(shù)機(jī)器人只包含了一條臂而不是擁有人解剖學(xué)的全部結(jié)構(gòu)。,1.Introduction,Current co

5、ntrol only allows these devices to move form point to point in space, performing relatively simple tasks. 通常的控制只允許這些機(jī)器人在空間上從點(diǎn)到點(diǎn)的移動(dòng)，完成相對(duì)簡(jiǎn)單的工作。,1.Introduction,The Robotics Institute of America defines a robots as “a reprogrammable multifunction manipulator designed to move material, parts, tools, or o

6、ther specialized devices through variable programmed motions for the performance of a variety of tasks.” 1 美國(guó)機(jī)器人學(xué)會(huì)定義機(jī)器人為“一個(gè)可再編程序，多功能的機(jī)器手，它通過各種可編程的運(yùn)行來完成不同的任務(wù)，用于搬運(yùn)原料、零件、刀具、以及專用裝置。如果認(rèn)為不同類型的加工有不同的作用。,1.Introduction,A NC machining center would be qualified as a robot if one can interpret different types

7、of machining as different functions. Most manufacturing engineers do not consider a NC machining center a robot, even though these machines have a number of similarities. 如果認(rèn)為不同類型的加工有不同的功能，那么一個(gè)數(shù)控加工中心也可以被認(rèn)為是機(jī)器人。大部分制造工程師認(rèn)為數(shù)控加工中心不是機(jī)器人，盡管他們有很多相似之處。,1.Introduction,The power drive and controllers of both

8、NC machines and robots can be quite similar. Robots, like NC machines can be powered by electrical motors, hydraulic systems, or pneumatic systems. 數(shù)控機(jī)構(gòu)和機(jī)器人的動(dòng)力驅(qū)動(dòng)和控制十分相似。像數(shù)控機(jī)構(gòu)一樣機(jī)器人能夠由電機(jī)、液壓系統(tǒng)、氣壓系統(tǒng)提供動(dòng)力。,1.Introduction,Control for either device can be either open-loop or closed-loop. In fact many of the

9、 developments used in robotics have evolved form the NC industry, and many of the manufacturers of robots also manufacture NC machines or NC controllers. 兩種設(shè)備都能由開環(huán)控制或閉環(huán)控制。實(shí)際上，許多應(yīng)用于機(jī)器人發(fā)展技術(shù)由數(shù)控工業(yè)演變過來并且許多機(jī)器人制造商也制造數(shù)控機(jī)床和數(shù)控控制器。,1.Introduction,A physical robot is normally composed of a main frame ( or arm )

10、 with a wrist and some tooling ( usually some type of gripper ) at the end of the frame. 2 An auxiliary power system may also be included with the robot. 實(shí)際的機(jī)器人由帶有腕（或稱為臂）的主機(jī)身和機(jī)器端部的工具（通常是某些的支撐器）組成。機(jī)器人也可能有一個(gè)輔助動(dòng)力系統(tǒng)。,1.Introduction,A controller with some type of teach pendant, joy-stick, or key-pad is a

11、lso part of the system. A typical robotic system is shown in Fig 5.1. 機(jī)器人系統(tǒng)還包括一個(gè)有一些示教板、操作桿、鍵盤。一種典型的機(jī)器人系統(tǒng)如圖5、1。,1.Introduction,Robots are usually characterized by the design of the mechanical system. A robot whose main frame consists of three linear axes is called a Cartesian robot. The Cartesian rob

12、ot derives its name from the coordinate system. Travel normally takes place linearly in three-space. 機(jī)器人特點(diǎn)通常由機(jī)械系統(tǒng)的設(shè)計(jì)表現(xiàn)，一個(gè)主要框架包括三條移動(dòng)軸的機(jī)器人稱為笛卡爾機(jī)器人。笛卡爾機(jī)器人它的名字來源于笛卡爾坐標(biāo)系沿三維空間的直線移動(dòng)。,1.Introduction,Some Cartesian robots are constructed like a gantry to minimize deflection along each of the axes. These robo

13、ts are referred to as gantry robots. 一些笛卡爾機(jī)器人由龍門結(jié)構(gòu)構(gòu)成以便使沿每個(gè)軸的偏差最小。這些機(jī)器人稱為龍門機(jī)器人。,1.Introduction,Fig.5.2 shows examples of Cartesian robots. These robots behave and can be controlled similarly to conventional three-axis NC machines. 3 Gantry structure are generally the most accurate physical structure

14、for robots. 圖5.2展示了笛卡爾機(jī)器人，這些機(jī)器人的動(dòng)作控制都相似于傳統(tǒng)的三坐標(biāo)機(jī)床。龍門結(jié)構(gòu)一般來說是最準(zhǔn)確的機(jī)器人實(shí)際結(jié)構(gòu)。,1.Introduction,Gantry robots are commonly used for assembly where tight tolerance and exact location are required. 龍門機(jī)器人通常用于公差較小和位置度要求較高的裝配中。,1.Introduction,A cylindrical robot is composed of two liner axes and one rotary axis. T

15、his robot derives its name from the work envelope (the space in which it operates), which is created by moving the axes from limit to limit. 圓柱機(jī)器人由兩個(gè)移動(dòng)軸和一個(gè)旋轉(zhuǎn)軸組成，這種機(jī)器人的名稱來源自包圍軌跡（它的功作范圍），它由軸移動(dòng)的極限位置構(gòu)成。,1.Introduction,Fig.5.3 shows typical cylindrical robots, cylindrical robots are used for a variety of

16、 applications, but most frequently for material-handling operations. 圖5.3展示了典型的圓柱機(jī)器人。圓柱機(jī)器人有許多應(yīng)用，最常見的是材料的搬運(yùn)操作。,2. Programming a Robot,Programming a Robot 給機(jī)器人編程 In order for a device to qualify as a robot, it must be easily reprogrammable. 為了使設(shè)備具有資格作為機(jī)器人，它必須是容易可再編程的。,2. Programming a Robot,Nonprogram

17、mable mechanisms, regardless of their potential flexibility by reassembly or rewiring, do not be qualified as robots4. A class of devices that fit this category are fixed or variable-sequence robots. 不可編程的機(jī)構(gòu)，無論其通過重新裝配或再接線可實(shí)現(xiàn)的潛在柔性有多大，也不能算作機(jī)器人。許多這類設(shè)備是固定的或可變的序列機(jī)器人。,2. Programming a Robot,Many of these

18、robots are pneumatically driven. Rather than controlling the robot path, the device is driven to fixed stops or switches via some form of ladder logic. 很多這樣的機(jī)器人是由氣壓驅(qū)動(dòng)的。這種機(jī)器人借助某種梯形邏輯圖被驅(qū)動(dòng)至一些固定的擋塊或行程開關(guān)處，而不是控制它的軌跡。,2. Programming a Robot,Although the ladder programming qualifies for the definition of a

19、robot, the switches or stops must normally be physically moved in order to alter the tasks being performed. 5 雖然梯形圖編程可滿足機(jī)器人的運(yùn)動(dòng)要求，但行程開關(guān)和擋塊必須正常的被整體移動(dòng)，以改變所需執(zhí)行的工作任務(wù)。,2. Programming a Robot,Drive actuators or motors are turned “on” or “off” depending on the desired sequence of tasks and switch states. Ro

20、bot operations for this type of system are normally limited to rather simple applications. 動(dòng)力執(zhí)行器或發(fā)動(dòng)機(jī)打開到“開”或“關(guān)”取決于工序的要求和轉(zhuǎn)換狀態(tài)。機(jī)器人對(duì)這類系統(tǒng)的操作通常局限于相當(dāng)簡(jiǎn)單的應(yīng)用。,2. Programming a Robot,Programming of more conventional robots normally takes one of three form: (1) walk-through or pendant teaching, (2) lead-through

21、 teaching, or (3) offline programming. 傳統(tǒng)機(jī)器人的程序通常采用以下三個(gè)形式之一：（1）操作器或示教板編程（2）導(dǎo)入式程序（3）脫機(jī)編程。,2. Programming a Robot,Each robot normally comes with one or more of these types of programming systems. Each has advantages and disadvantages depending on the application being considered. 每個(gè)機(jī)器人通常具有一個(gè)或更多這種程序類型的

22、系統(tǒng)。每種形式的優(yōu)缺點(diǎn)依不同的應(yīng)用而不同。,2. Programming a Robot,Walk-through or pendant teaching or programming is the most commonly used robot programming procedure. In this type of programming, a pendant that normally contains one or more joysticks is used to move the robot throughout its work envelope. 操作器或示教板編程是最常

23、用的機(jī)器人編程方式，這種類型編程，A pendant（懸掛操作板） 通常包括幾個(gè)用于使機(jī)器人在它工作范圍移動(dòng)的操作桿。,2. Programming a Robot,At the end of each teach point, the current robot position is saved. As was the case with NC machines, some robots allow the programmer the option of defining the path between points. 在每個(gè)工序的終點(diǎn)，機(jī)器人的位置被保存。像數(shù)控機(jī)床一樣，一些機(jī)器人允

24、許編程人員選擇定義兩點(diǎn)間路線。,2. Programming a Robot,Again, these robots are called continuous-path systems. Systems that do not allow the user to specify the path taken are called point-to-point systems. Many continuous-path robots allow the user to define the path to be taken between successive points. That is,

25、 the user may define a straight-line, circular, or joint-interpolated path. 另外，這些機(jī)器人被稱為連續(xù)路徑系統(tǒng)。不允許用戶指定路徑的系統(tǒng)稱為點(diǎn)到點(diǎn)系統(tǒng)。許多連續(xù)路徑機(jī)器人允許用戶定義在兩個(gè)主要點(diǎn)之間連線的路徑。那么，用戶可以定義直線、圓弧的、關(guān)節(jié)-插補(bǔ)的路徑。,2. Programming a Robot,In a straight-line path, the robots move between successive points in a straight-line in Cartesian space. Ci

26、rcular moves, as the name implies, take place in circles along one of the major planes6. The path that the robot takes using a joint-interpolation scheme is not always easy to determine. 在直線路徑中，機(jī)器人在笛卡爾空間中，在直線連續(xù)端點(diǎn)間移動(dòng)。顧名思義，圓弧運(yùn)動(dòng)就是在某一主平面上沿圓弧運(yùn)動(dòng)。機(jī)器人以關(guān)節(jié)插補(bǔ)方案執(zhí)行的路線很不容易確定。,2. Programming a Robot,In joint inter

27、polation, each of the robot joints is moved at a constant rate so that all the axes start and stop at the same time. 7 For Cartesian robots, straight-line and joint-interpolation schemes produce the same path. For the other types of robot systems, this is not true. 在關(guān)節(jié)插補(bǔ)中，機(jī)器人的每一關(guān)節(jié)都以一恒定速度移動(dòng)以保證所有的軸同時(shí)啟

28、動(dòng)和停止。對(duì)于笛卡爾機(jī)器人，直線和結(jié)點(diǎn)插補(bǔ)方案產(chǎn)生相同的路徑。對(duì)于其他類型機(jī)器人系統(tǒng)，這不成立。,2. Programming a Robot,Pendant programming systems normally have supplemental commands that allow the programmer to perform auxiliary operations such as close the end-effector, wait, pause, check the status of a switch or several switches, return a re

29、quired status to a machine, etc. 操作器編程系統(tǒng)通常提供允許編程人完成輔助操作的命令，如關(guān)閉終端，等待，暫停，檢查一種或幾種轉(zhuǎn)換狀態(tài)，返回全部狀況給機(jī)床，等等。,2. Programming a Robot,The programmer walks the robot through the necessary steps required to perform a task, saving each intermediate step along with the auxiliary information. The teach pendant used to

30、 program the Fanuc MI robot is shown in Fig.5.4. 編程人員使機(jī)器人走過要求完成一項(xiàng)工作的必要步驟，保存每一中間步驟和輔助的信息。用于給Fanuc M1機(jī)器人編程的操作器，如圖5.4所示。,2. Programming a Robot,Lead-through programming is one of the simplest programming procedures used to program a robot. As the name implies, the programmer simply physically moves the

31、 robot through the required sequence of motions. The robots controller records the position and speed as the programmer leads the robot through the operation. 導(dǎo)入式程序是最簡(jiǎn)單的機(jī)器人程序設(shè)計(jì)過程之一。顧名思義，編程人只需根據(jù)需要的運(yùn)動(dòng)順序進(jìn)行機(jī)器人的實(shí)際移動(dòng)。機(jī)器人控制器反饋它的位置并且像編程人一樣引導(dǎo)機(jī)器人完成操作。,2. Programming a Robot,The power is normally shut down whi

32、le the programmer is leading the robot through the necessary moves, so that the robot will not will not generate any “glitches” that might injure the operator. 當(dāng)編程人員負(fù)責(zé)引導(dǎo)機(jī)器人完成必要?jiǎng)幼鲿r(shí)，動(dòng)力降低以便機(jī)器人不產(chǎn)生傷害操作人員的“小毛病”。,2. Programming a Robot,Although lead-through programming is the easiest programming method lea

33、rn, it does introduce some severe limitations to the robots application. For instance, when the robot is being led through the operation, the operator carries the weigh of the robot. 盡管導(dǎo)入式編程是最容易學(xué)的程序語言，但它也反映了一些機(jī)器人應(yīng)用的限制，例如，當(dāng)機(jī)器人正在進(jìn)行操作時(shí)，操作人員搬運(yùn)機(jī)器人。,2. Programming a Robot,The gears, motor and lead screw m

34、ay introduce a false resolver reading, so that when the weight of robot, and perhaps a part , must be supported by the system the actual end-effector position may be significantly different from the position taught to the robot. 齒輪，電動(dòng)機(jī)和絲杠會(huì)引入錯(cuò)誤的運(yùn)算讀數(shù)值，這樣當(dāng)機(jī)器人的重量，也許是工件的重量必須由系統(tǒng)承擔(dān)時(shí)，端部執(zhí)行器的 實(shí)際位置可能與機(jī)器人的訓(xùn)練位置有

35、很大差異。,2. Programming a Robot,Another problem with this method is that since the position and speed are recorded as the robot is being led through the desired path, a significant amount of data are generated. This data must be stored and later recalled. 這種方式的另一個(gè)問題是，由于機(jī)器人被指引通過期望的路徑時(shí)，機(jī)器人的位置和速度會(huì)被記錄，產(chǎn)生大量

36、的數(shù)據(jù)信號(hào)，這些數(shù)據(jù)必須進(jìn)行存儲(chǔ)之后調(diào)用。,2. Programming a Robot,Storage and retrieval space and time can cause the programmer problems. Perhaps the major problem associated with lead-through programming is that the human who leads the robot through the process is capable of only finite accuracy and may introduce incon

37、sistencies into the process. 存儲(chǔ)和重新調(diào)用的空間和時(shí)間可能會(huì)引起匯編器問題 ，也許導(dǎo)入式編程的主要問題是引導(dǎo)機(jī)器人完成工藝過程的人僅能夠達(dá)到有限的準(zhǔn)確度，可能引起工藝過程的不協(xié)調(diào)。,2. Programming a Robot,Human-induced errors and inaccuracies eliminate some of the major advantages of using robots. 人為錯(cuò)誤和不準(zhǔn)確性削弱了使用機(jī)器人的優(yōu)點(diǎn)。,2. Programming a Robot,Offline programming for robots i

38、s a relatively new technology that provides several advantages over both lead-through and teach programming. The principles of offline programming are similar to using an offline language such as APT for NC programming. 脫機(jī)編程對(duì)機(jī)器人來說是相對(duì)較新的技術(shù)，它能夠提供導(dǎo)入式和控制板編程的一些優(yōu)點(diǎn)。脫機(jī)編程的規(guī)律與對(duì)數(shù)控技術(shù)應(yīng)用脫機(jī)語言類似。,2. Programming a R

39、obot,Several languages have been developed at major universities as well in industry throughout the U.S. Examples of these languages include VAL created by Unimation, AR-Basic by American Robot Corp., ARM-BASIC by Microbot, Inc.and AIM. By IBM. 幾種脫機(jī)語言已經(jīng)在美國(guó)的主要大學(xué)和工業(yè)中發(fā)展。這些語言主要有Unimation的VAL,美國(guó)機(jī)器人協(xié)會(huì)的ARM

40、-BASIC, Microbot,Inc的ARM-BASIC和IBM的AMI。,2. Programming a Robot,To illustrate offline programming, AR-Basic will be used. AR-Basic allows the user to : 為解釋說明脫機(jī)語言，AR-Basic允許用戶： Define the position of the robot 定義機(jī)器人的位置 Control the motion of the robot 控制機(jī)器人的運(yùn)動(dòng) Input and output control data 輸入輸出控制數(shù)據(jù),2.

41、Programming a Robot,AR-Basic is an interpretive BASIC system that employs many of the same functions as the familiar BASIC programming language. In AR-Basic, points and tools are defined as a set of primitive data. Points are defined using the convention（約定、協(xié)定）: AR-Basic系統(tǒng)的解釋，他采用的許多相同的功能采用了我們熟悉的basi

42、c程序語言，在In AR-Basic中，點(diǎn)和刀具定義為初始化數(shù)據(jù)。點(diǎn)由以下協(xié)議定義 X,Y,Z,R,P,Y,2. Programming a Robot,Where X,Y, and Z are the Cartesian space occupied by the end-effector, and R, P, and Y are the roll, pitch（節(jié)距） and yaw of the tool. Each of the point definitions can be specified as either absolute or relative point ( again

43、 defined in a similar manner as for NC machines ). X,Y,Z表示由端部執(zhí)行器占據(jù)的笛卡爾空間，R ,P,Y 表示刀具旋轉(zhuǎn)、進(jìn)給（節(jié)距）、和刀具偏角。每個(gè)點(diǎn)的定義既可以是絕對(duì)的也可以是相對(duì)的（和數(shù)控機(jī)床有相似的規(guī)則）.,2. Programming a Robot,Tool-definition commands are used to define the location of any tooling that might be required for an opperation. The tool defination specifie

44、s the midpoint of the robots faceplate, and consists of the same six data used to describe a point. 刀具定義命令常用于定義操作要求的所有刀具的位置。刀具定義指定機(jī)器人面板的中心，包括與用于定義點(diǎn)相同的六個(gè)數(shù)據(jù)。,2. Programming a Robot,The robot is set into motion using a set of motion control commands. The motion commands allows the programmer to : Define the type of path to take (straight-line, circular, or joint-coordinated ) 機(jī)器人通過運(yùn)動(dòng)控制命令執(zhí)行運(yùn)動(dòng)，運(yùn)動(dòng)命令允許編程人員定義采取的路徑類型（直線，圓弧，關(guān)節(jié)-協(xié)調(diào)）。,2. Programming a Robot,Define the end of tooling speed Define the frame of reference Describe the current tool tip 定義刀具的最終速度 定義參考框架 定義刀尖的類別,2. Programming a Robot,AR